HiCON Integra pn7766 - Vital System · HiCON Integra – pn7766 Ethernet Motion Controller Data Acquisition System Logic Controller User Guide Document Revision 1.5 (Updated Jan 19,

HiCON Integra – pn7766

Ethernet Motion Controller Data Acquisition System

Logic Controller

User Guide

Document Revision 1.5 (Updated Jan 19, 2017)

© 2017 Vital Systems Inc Phoenix, AZ USA

For more information please visit the product web page:

www.vitalsystem.com/integra

http://www.vitalsystem.com/integra

http://www.vitalsystem.com/integra

HiCON Integra User Guide

© 2017 Vital Systems, Inc. 2 www.vitalsystem.com

CONTENTS

LICENSE AGREEMENT ................................................................................................................................3

1. OVERVIEW ...........................................................................................................................................4

Key Features ..................................................................................................................................... 4 Compatibility Requirements: ............................................................................................................ 5

2. SOFTWARE COMPONENTS ....................................................................................................................6

2.1 HiCON Mach3 and Mach4 Plugin Setup ............................................................................................ 6 2.2 VSI Device Manager ........................................................................................................................... 6 2.3 VSI Macro Loader ............................................................................................................................... 6 2.4 Custom Software Application with HiCON ........................................................................................ 6

3. QUICK START GUIDE .............................................................................................................................7

Integra with 7737 Setup ................................................................................................................. 11

4. NETWORK CONNECTION SETUP .......................................................................................................... 13

3.1. Connect using an Internet Router (DHCP Server) ........................................................................... 13 3.2. Direct Connection to the PC ........................................................................................................... 13

4. HICON INTEGRA HARDWARE INTERFACE ............................................................................................ 18

4.1. Ethernet Port (J5) ............................................................................................................................ 19 4.2. Digital I/O 3.3V TTL Ports (J7, J8, J10) ............................................................................................. 19 4.3. Digital I/O 24V Ports (J12, J13, J14, J15) ......................................................................................... 21 4.3. Step and Direction Signals .............................................................................................................. 22 4.4. Encoders on J6, J8, J10, and J11...................................................................................................... 23

4.4.1. J7 and J8 Pin Assignments with 7737 Breakout Board ......................................................... 24

5. HIGH LEVEL CONNECTION DIAGRAM .................................................................................................. 26

6. WIRING EXAMPLES ............................................................................................................................. 27

6.1 Example I/O Connections ................................................................................................................ 27 6.2 NPN Digital I/O Connection using Pull-Up Resistor ......................................................................... 28 6.3 Example Connections for 4-Axis Router with Yaskawa Sigma7 drives ............................................ 29 6.4 Integra and 7737 setup .................................................................................................................... 30 6.5 7737 Board to Drive Wiring ............................................................................................................. 31

7. ADD-ONS AND OPTIONAL FEATURES .................................................................................................. 32

HiCON-MACRO[*] ............................................................................................................................ 32 HiCON-EXTIO[*] ............................................................................................................................... 32 HiCON-ADC[*] .................................................................................................................................. 32 INTG-CLOOP[*] ................................................................................................................................. 32 Torch Height Control[*] ................................................................................................................... 33 Synced Outputs[*]............................................................................................................................ 33 Rigid Tap[*] ...................................................................................................................................... 33 7737 Breakout Board ...................................................................................................................... 33 7535 Breakout Board (P or N version) ............................................................................................ 33

8. FURTHER READING ............................................................................................................................. 34



License Agreement Before using the HiCON and accompanying software tools, please take a moment to go thru this License agreement. Any use of this hardware and software indicate your acceptance to this agreement.

It is the nature of all machine tools that they are dangerous devices. In order to be permitted to use HiCON on any machine you must agree to the following license: I agree that no-one other than the owner of this machine, will, under any circumstances be responsible, for the operation, safety, and use of this machine. I agree there is no situation under which I would consider Vital Systems, or any of its distributors to be responsible for any losses, damages, or other misfortunes suffered through the use of the HiCON board and its software. I understand that the HiCON board is very complex, and though the engineers make every effort to achieve a bug free environment, that I will hold no-one other than myself responsible for mistakes, errors, material loss, personal damages, secondary damages, faults or errors of any kind, caused by any circumstance, any bugs, or any undesired response by the board and its software while running my machine or device. I fully accept all responsibility for the operation of this machine while under the control of HiCON, and for its operation by others who may use the machine. It is my responsibility to warn any others who may operate any device under the control of HiCON board of the limitations so imposed. I fully accept the above statements, and I will comply at all times with standard operating procedures and safety requirements pertinent to my area or country, and will endeavor to ensure the safety of all operators, as well as anyone near or in the area of my machine.

WARNING: Machines in motion can be extremely dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the system. VITAL Systems shall not be liable or responsible for any incidental or consequential damages. By using the HICON motion controller, you agree to the license agreement.



1. Overview

The HiCON Integra is an Ethernet based controller for motion control, data acquisition, and general PID control system applications. Utilizing the latest Microchip technology, the HiCON Integra offers a comprehensive set of features for your demanding applications.

HiCON Integra can be applied in a variety of applications involving PC based Motion Control, Storage and Retrieval Systems and CNC Milling / Lathe Machines. Equipped with a rich set of hardware interfaces, it can also be used for wide variety of applications involving PID control, e.g., speed, oven temperature control and so on.

Key Features

3 Quadrature encoder inputs (Expandable to 9). 1 Differential (5V) and 7 Single-Ended (3.3V).

6Mhz Max Encoder frequency. Encoder resolution multiplied by 4 thru Hardware.

6 Step and Direction Channels. Up to 2MHz Step Frequencies

2 Channel Analog Inputs, Range 0 - 3.3Volts, 10-bit Resolution

79 Digital I/O (55 Inputs & 24 Outputs) and 5 Relay outputs

Industrial-strength steel enclosure

Ethernet 100Mb connectivity using TCP/IP interface.

Simple UDP Socket Programming Interface.

VSI Motion Control native API library for Custom Software development (C++, C# and VB.Net).

Standalone Operation by programming the unit with C or BASIC programming language.



Compatibility Requirements:

Drives can be stepper or servo types, but they must be able to take Step-Direction (digital) command signals. This is also referred to as “Position mode” in some drive manuals.

Encoders can be rotary, linear, etc. as long as they use a 5V Differential Quadrature feedback signal. If the encoders use a Single-ended signal, a single-ended to differential signal adapter may be used.

The table below shows the typical pins that are used for both types of Quadrature signals.

5V Differential Quadrature Signal Pins

GND

+5V

Z-

Z+

B-

B+

A-

A+

5V Single-ended Quadrature Signal Pins

GND

+5V

Z

B

A

Extremely Important Reminder

Extreme precautions must be observed when operating machinery. Machines are known to have enormous

power even with a small motor. Never come within a machine’s path while powered.

Failure to observe caution while operating machines can

result in severe injuries or even death.

NOTE: Several notes such as this can be found throughout this document which list key points and comments worth remembering.



2. Software Components

2.1 HiCON Mach3 and Mach4 Plugin Setup To use the HiCON plugin for Mach3 or Mach4, copy the M3HiCON.dll file to PlugIns folder in the Mach install directory. When you run Mach3 or Mach4, it should provide you with a prompt for multiple plugins detected with the HiCON plugin included in the list.

2.2 VSI Device Manager In order to change or update the firmware installed on the HiCON, or activate features, you will have to install the VSI Device Manager application. For instructions on using the program, see the provided manual. Extended Features:

Extended I/O – Modifies J7 and J8 for an additional 32 Inputs and 16 Outputs. Default number of I/O is 23 inputs, 8 outputs, and 5 relay outputs.

Basic Macro – Allows the use of HiCON Basic Programs for standalone operation.

Analog Input – Allows the use of Analog Inputs (0 – 3.3V).

Closed Loop Encoder Feedback – Allows the use of Encoder Channels 3 – 8 for axis position feedback (also activates the Extended I/O activation).

Torch Height Control – Automatic Torch height positioning for plasma cutting applications

Synced Outputs – Allows the utilization of the Synced outputs feature in Mach4. This allows digital outputs to be set ON or OFF at a precise position during GCode execution (useful for lasers).

Rigid Tap – Allows the use of rigid tapping in Mach4.

2.3 VSI Macro Loader VSI Macro Loader is an application that is used to install and debug the HiCON Basic Program on the HiCON controller. The user can select the HiCON Basic file (.bas file) and download it to the controller. After launching the HiCON Basic program, the user can see the print statement outputs on the output window.

2.4 Custom Software Application with HiCON Custom Windows applications can be created using the VSI Motion

Control API library. The Library is an API designed to allow communication (via Ethernet) using commands to arm/disarm, control and read I/O, and command motion among others. Sample applications and a user guide may be found here.

http://www.vitalsystem.com/portal/motion/hicon/hicon_oem/HiCON_Files.zip

http://www.vitalsystem.com/portal/motion/VSI_Device_Manager.zip

http://www.vitalsystem.com/portal/motion/VSI_Device_Manager_Manual.pdf

http://www.vitalsystem.com/portal/motion/VSIMacroLoader.zip

http://www.vitalsystem.com/portal/motion/SDK/motion_control_API.php

http://www.vitalsystem.com/portal/motion/SDK/VSIMotionControlAPIGuide.pdf

http://www.vitalsystem.com/portal/motion/SDK/motion_control_API.php#samples



3. Quick Start Guide The following steps are provided to give the user a basic step-by-step guide for wiring the Integra on a target machine. These instructions assume that the user has some knowledge about working with electrical wiring, adequate knowledge about the target machine, and has some experience with building or retrofitting CNC machines.

1. Download and install the VSI Device Manager application. If you haven’t already.

VSI Device Manager

VSI Device Manager manual

2. Connect power to the Integra. The image below shows the necessary wiring connections for this part of

the setup. Only turn on the power supply once all the connections below are made.

NOTE: It is recommended to use a 24V/5V power supply such as the unit advertised on the VSI website. If two separate power supplies are used to power Integra, DO NOT supply 24V for too long without the 5V power as doing so will overheat the unit after an extended period of time.

http://www.vitalsystem.com/portal/motion/VSI_Device_Manager.zip


http://www.vitalsystem.com/portal/cnc/motion/motion_accessories.php#PS-RD-35B

http://www.vitalsystem.com/portal/cnc/motion/motion_accessories.php#PS-RD-35B



3. If the Integra is correctly powered up, the 24V and 5V LEDs should be lit up to indicate that they are present on the unit, and the CPU LED blinks in a heartbeat pattern.

Troubleshoot Issue Solution

The 24V or 5V LEDs are not lit up Make sure that the wires are adequately stripped, and use a voltmeter to verify that 24V and 5V are present on the connection. If not, then the power supply may be the issue.

The CPU LED does not light up If the 5V LED is lit up, but the CPU LED is not, try cycling the power. If that still doesn’t work, please email [email protected] for assistance.

The CPU LED blinks very rapidly Try cycling the power on the unit. If the blinking is still rapid, after a couple of tries, please email [email protected] for assistance.

4. Establish a network connection to the Integra. Follow the “Network Connection Setup” Section. If a direct connection to the PC is used, make sure to carefully follow the steps for setting the PC IP address.

If all instructions were followed correctly, you should be able to scan the Integra using the “VSI Device Manager” application. If the unit does not show up, then try some of the solutions in the “Troubleshoot” table below.

mailto:[email protected]





The device does not show up in VSI Device Manager

Make sure that a good quality CAT5e (or better) Ethernet cable is used between the Integra and the PC. The Integra has Auto-MDIX, so cross-over or straight-through cables can be used.

Try disabling windows firewall temporarily to see if it interferes with the connection.

If more than one network adapter is present (for example, a laptop with a wifi connection and Ethernet port). Try disabling the other network adapter.

Check the RJ45 port on the Integra and make sure the orange LED is lit and green LED is blinking. If not, try using a different cable

5. After getting the HiCON on the network, you may then proceed to turn off the power and wire the machine sensors and switches to the Digital I/O on the unit.

The Integra uses PNP circuits for the Digital I/O (sourcing type, or the hot wire has the switch). All Digital I/O on the Integra have no built-in functionality. Input and Output functions will depend on how they are mapped or scripted within Mach3 or Mach4 (or in custom software). As such, the sensors can be wired now, or later after mapping the I/O signals in Mach. Wiring sensors and switches to the screw terminals can be found on the “Digital I/O 24V Ports” section and wiring examples are provided on the “Wiring Examples” section.

Once wired into the screw terminals, the sensors may be tested by triggering them manually and watching the Input LEDs on the Integra.

NOTE: For safety reasons, It is highly recommended to first set up the ESTOP and limit switches before attempting any motion on the machine.

NOTE: Although the Integra uses PNP (sourcing) circuits for the Digital I/O, pull up resistors may be used if NPN (sinking/open-collect) circuits are required. A wiring diagram for this may be found in the “NPN Digital I/O connection” section.




The Input LEDs do not light up when the sensor/switch is triggered

Ensure that the 24V LED is lit up. The Digital I/O circuit requires that 24V power is supplied on the Integra. If it is not lit, go back to step1.

Make sure that the wires are adequately stripped, and use a voltmeter to verify that 24V is present when the sensor/switch is triggered.

Some Input LEDs are turned ON, or their states are not following the sensor/switch

Using the “Example I/O Connections” diagram as a reference, ensure that solid earth ground connections are present, because electrical noise accumulation can disrupt the microcontroller operation in the Integra.

Make sure that the wires are adequately stripped, and use a voltmeter to verify that the sensor properly sends 24V and 0V when triggered or not.

6. Connect the stepper/servo drives to the HiCON. If only the pn7766 Integra was purchased (without the 7737 breakout board), connect the drives to the stepper output channels located on J2, J3 and J4. Information on pin layouts can be found on the “Step and Direction Signals” section.

If the HiCON was purchased with the 7737 breakout board, connect the 7737 board to the HiCON using the provided 26-pin flat cable, and proceed to the next section (Integra with 7737 Setup). Once the drives are wired up correctly, you are now ready for the software configuration and testing. Further setup procedures can be found on either:

HiCON Mach3 Software Integration manual

HiCON Mach4 Software Integration manual

NOTE: It is recommended to use the same 24V power supply connected on J1 of the Integra, so that turning off the power supply cuts power on all components.

http://www.vitalsystem.com/web/hicon/HiCON_Mach3_Software_Integration.pdf

http://www.vitalsystem.com/portal/motion/hicon/HiCON_Mach4_Software_Integration.pdf



Integra with 7737 Setup

For this setup procedure, use the “Integra and 7737 Setup” wiring diagram as a reference.

1. On the J3 screw terminal on the 7737, (with the power supply turned off) connect 24V on the +24V input, and 0V on the GND.

2. 24V must be supplied on the ESTOP input to deactivate the ESTOP condition on the 7737. The ESTOP signal here also has a built-in function to disengage the step-direction circuit which will completely prevent outputting any command signals on the RJ45 ports.

3. After turning on the power supply, no LEDs should be turned on at this. Test the ESTOP input by toggling the switch ON and OFF, the ESTOP LED should change the state accordingly.


The ESTOP LED is always OFF Ensure that the 24V and GND wires are adequately stripped and use a Volt meter to read if 24V is properly supplied to the 7737 and that 24V is present on the ESTOP Input.

The ESTOP LED is always ON Use a Voltmeter to ensure that 24V is present on the ESTOP Input

4. Turn OFF the power supply. If the drives were purchased from Vital System Inc. and the “EPx-DIB” Drive Interface boards were provided with the package, the connection is simply a matter of plugging one end of the provided color-coded Ethernet cable from the 7737, to the EPx-DIB for each drive.

If the drives were not purchased from Vital System Inc., or the “EPx-DIB” Drive Interface Boards were not supplied with the package, you will need to plug one end into the appropriate RJ45 port on the 7737, and cut the other end for wiring into the drive. Refer to the “7737 Board to Drive Wiring” for

NOTE: For this section, ensure that the 7737 is connected to the Integra using the provided 26-pin flat cable, and all the setup steps were followed in the previous section.

NOTE: It is recommended to use the same 24V power supply connected on J1 of the Integra, so that turning off the power supply cuts power on all components.

NOTE: The ESTOP input may simply be connected on the adjacent 24V output, but it is recommended to wire a switch on this connection so the ESTOP can be triggered manually as necessary.



making the connections on the drive. For these connections, use good quality CAT5e (or better) Ethernet cables.

5. Power up the Integra and open the “VSI Device Manager” application. Click on “Scan Network”, and select your unit from the device list. Check the”HiCON” tab and ensure the “Enable J8 Step-Dir…” setting is enabled. If it was disabled, click “Download” to apply the changes.

6. Check the “Activations” tab and ensure that the following activations are present. If any of these activations are missing, please email [email protected] for assistance.




4. Network Connection Setup You can connect the HiCON Integra directly to your PC or connect via an Ethernet switch. The HiCON board can use the DHCP server on the network or a fixed IP address (firmware pre-assigned IP address is 192.168.0.35). The default IP address of the device can be manually changed via the VSI Device Manager Software.

3.1. Connect using an Internet Router (DHCP Server)

Host PC / Work Station

Ethernet Router &

DHCP Server

To Internet

This is the simplest method to connect Mach software to the controller. The figure above shows a basic setup using an Internet router on your network. Connect the Ethernet cable from the J5 Ethernet port of the HiCON to the router. Connect another Ethernet cable from the router to your PC. The router dynamically assigns unique IP address both to the PC as well as to the HiCON, and therefore completes the network setup without requiring any intervention from the user.

3.2. Direct Connection to the PC

When connecting the PC directly to the HiCON, you will need to manually assign IP address 192.168.0.10 in Windows XP, 7 or newer. The HiCON board will use its firmware default IP address, i.e., 192.168.0.35. Do not use VSI Device Manager Software to change the HiCON IP address, unless you know exactly what you doing. If not sure, please email VSI for more information ([email protected]). Network setup is a pretty simple task, but wrong settings can get you stuck for many hours.



The Ethernet cable is connected from the J5 Ethernet port of the HiCON board to the PC as shown below:

Click the Start menu. Next, click on the Control Panel option.

Click on the Network and Sharing Center option.

http://www.colorado.edu/oit/sites/default/files/tutorial_2310



Click on Change adapter settings from the left side menu.

Right-click on the Local Area Connection icon, then select Properties.




In the window that opens, click on the Internet Protocol Version 4 (TCP/IPv4) (you may need to scroll down to find it). Next, click on the Properties button.





In the window that opens, click the Use the following IP address: radio button. In the IP address:, type 192.168.0.10, Subnet mask: 255.255.255.0, and Default gateway: leave blank. For the DNS server settings, leave both of them blank.

Click OK to save the setting. After a few seconds, you should be able to connect HiCON from Mach software.




4. HiCON Integra Hardware Interface The HiCON Integra board has several interface ports and indicator LEDs. The figure below shows a top view of the HiCON Integra board with interface ports and other components:

J1

+5V 2Amp for powering CPU and +24V 1Amp for powering Relays, Spindle DAC, and 24V I/O.

J2 Step and Direction Outputs 0 and1.

J3 Step and Direction Outputs 2 and 3.

J4 Step and Direction Outputs 4 and 5.

J5 Ethernet connection

J6 Single-ended encoder input. Analog Inputs 0 and 1.

J7 Expansion Slot A. Port#12 Digital I/O (16 Inputs, 8 Outputs)

NOTE: When supplying power to J1, make sure 5V and 24V are turned on and off at the same time, using one power switch. The 24V power should never be applied while the 5V power is off. Applying 24V power and keeping 5V power Off will damage the board. 5V without the 24V power may be applied in case you do not plan to control the (0-10V) Analog Spindle DAC, 24V Digital I/O, and the relay outputs (J12 – J16).



J8 Expansion Slot B. Port#13 Digital I/O (16 Inputs, 8 Outputs) or 5 Single-Ended Encoders

J10

Pendant: Includes Single-Ended Encoder for hand-wheel MPG, 7 Digital Inputs (3.3v TTL), +5v to power the Pendant.

J11 Differential Encoder Input #1

J12 Relay Outputs 1 – 5, Analog Output (0-10v).

J13 Digital Inputs Port#11, Pins 8 – 15.

J14 Digital Inputs Port#11, Pins 0 – 7.

J15 Digital Outputs Port#11 Pins 0 – 7.

J16 (+24V) power for Digital Outputs. (Connect +24V here if using digital output).

+5V LED Green colored LED for Power indication; it glows steadily when Power is on.

+24V LED Green colored LED for Digital I/O, Analog Output, and Relays; it glows steadily when Power is on.

ARM LED Orange colored LED for Drive Enable; it glows steadily when armed.

ERR LED Red colored LED for error indication.

CPU LED Red colored LED for operation indication; it has a heartbeat blink when Power is on and running normally. It blinks rapidly if it is on download mode.

4.1. Ethernet Port (J5) The HiCON Integra controller has an Ethernet Port that allows the user to make a PC connection using an Ethernet cable. Connect to PC directly or via an Ethernet Hub or switch. For more detailed information see section 3. Network Connection Setup. The HiCON board supports both 10 MBit and 100 Mbit network speeds. TCP/IP network protocol in UDP mode is used for PC communications.

4.2. Digital I/O 3.3V TTL Ports (J7, J8, J10) The Digital Low voltage TTL inputs and outputs on HiCON Integra (J7, J8, and J10) use the 3.3V standard. The user should make sure that these I/O signals do not connect to a 5V source directly. However, 5volts through a 3.3K or higher value resistor can be connected to these input or output pins. A direct connection to 5V (without a resistor) will damage the unit. Maximum current draw from these outputs is 10mA per pin. The I/O type is open drain with 10K internal pull up to 3.3volts.

To use these I/O with 24V signals, use the Vital Systems Opto-Isolated I/O boards 7535, or OPTO22 style modules e.g. G4ODC5 and G4IDC5.

WARNING: If using Digital Outputs, it is highly recommended to feed +24V into J16. Failure to do so may cause the board to overheat. You may also add a jumper wire from +24v on J1 to +24v on J16 to avoid high current flow inside the controller.

http://www.vitalsystem.com/web/common/breakout.php?#7535



J7 (Expansion Slot A) Digital I/O (3.3V TTL) Pin Assignments:

Pin# Function Pin# Function

1 Ground 2 Digital Output Port 12, Pin 0

3 Digital Output Port 12, Pin 1 4 Digital Output Port 12, Pin 2



9 Digital Output Port 12, Pin 7 10 Digital Input Port 12, Pin 0

11 Digital Input Port 12, Pin 1 12 Digital Input Port 12, Pin 2







25 Digital Input Port 12, Pin 15 26 +5V

J8 (Expansion Slot B) Digital I/O (3.3V TTL) Pin Assignments:


1 Ground 2 Digital Output Port 13, Pin 0




9 Digital Output Port 13, Pin 7 10 Digital Input Port 13, Pin 0








25 Digital Input Port 13, Pin 15 26 +5V

NOTE: This is the pin layout when using the 7535 I/O board. If using the 7737 Board, see this section.



4.3. Digital I/O 24V Ports (J12, J13, J14, J15)

J12 (24V) Relays and Analog Output Pin Assignments:

Pin# Function

RL5 Relay Output 5

RL4 Relay Output 4

RL3 Relay Output 3

RL2 Relay Output 2

RL1 Relay Output 1

RLC Relay Common

DAC Analog Output (0-10V)

GND Ground

J14 (24V) PNP Digital Inputs Pin Assignments:

Pin# Function

INP0 Digital Input Port 11, Pin 0








J13 (24V) PNP Digital Inputs Pin Assignments:

Pin# Function









WARNING Do not put more than 30V through the relay contacts.



J15 (24V) PNP Digital Outputs Pin Assignments:

Pin# Function

OUT0 Digital Output Port 11, Pin 0








J16 Pin Assignments:

Pin# Function

+24V Power for Digital I/O and Relays




GND Ground

GND Ground

GND Ground

GND Ground

4.3. Step and Direction Signals HiCON Integra provides 5volts differential step and direction signals. You can also connect them in single ended mode by using either just the + or – signals.

J2 Pin Assignments:

Pin# Function

+SP0 +Step 0

-SP0 -Step 0

+DR0 +Direction 0

-DR0 -Direction 0

+SP1 +Step 1

-SP1 -Step 1

+DR1 +Direction 1

-DR1 -Direction 1

Note: +24V on J16 is common with +24V on J1. A jumper wire is recommended between J1 and J16.



J3 Pin Assignments:

Pin# Function

+SP2 +Step 2

-SP2 -Step 2

+DR2 +Direction 2

-DR2 -Direction 2

+SP3 +Step 3

-SP3 -Step 3

+DR3 +Direction 3

-DR3 -Direction 3

J4 Pin Assignments:

Pin# Function

+SP4 +Step 4

-SP4 -Step 4

+DR4 +Direction 4

-DR4 -Direction 4

+SP5 +Step 5

-SP5 -Step 5

+DR5 +Direction 5

-DR5 -Direction 5

4.4. Encoders on J6, J8, J10, and J11

J6 Pin Assignments:

Pin# Function

+5V +5 Volts, max 200mA

Z Single-ended Encoder (enc 2) Z

B Single-ended Encoder (enc 2) B

A Single-ended Encoder (enc 2) A

AN0 Analog Input Channel0 (0 – 3.3V)

AN1 Analog input Channel1 (0 – 3.3V)

GND Common Ground

GND Common Ground



4.4.1. J7 and J8 Pin Assignments with 7737 Breakout Board

The 7737 Step/Dir and Encoder Board is designed to be plugged directly into J7 or J8 (via 26-pin ribbon cable) for 24V optical isolation and RJ45 connectors for differential encoders and differential step and direction signals. As such, the pin assignments vary from the default setting used for Digital I/O.

J7 (Expansion Slot A) Pin Assignments (7737 Breakout Board):


1 Ground 2 Step Signal Channel 4

3 Direction Signal Channel 4 4 Step Signal Channel 5

5 Direction Signal Channel 5 6 Drive Enable (OUT P12, pin4)

7 ESTOP (INP P12, pin12) 8 Digital Output Port 12, Pin 6

9 Drive Error (INP P12, pin13) 10 A Signal Encoder Channel7

11 B Signal Encoder Channel 7 12 Z Signal Encoder Channel 7

13 A Signal Encoder Channel 8 14 B Signal Encoder Channel 8

15 Z Signal Encoder Channel 8 16 Digital Input Port 12, Pin 6



21 Digital Input Port 12, Pin 11 22 Step Signal Channel 4


25 Direction Signal Channel 5 26 +5V

J8 (Expansion Slot B) Pin Assignments (7737 Breakout Board):

NOTE: The use of Encoder Channels 3 – 8 requires the “Integra Closed Loop” Feature to be activated.

NOTE: All signals on J7 and J8 use 3.3Volts. As such, it is highly recommended to only access these pins by using the 7737 breakout board




1 Ground 2 Step Signal Channel 2


5 Direction Signal Channel 3 6 Drive Enable (OUT P13, pin4)

7 ESTOP (INP P13, pin12) 8 Digital Output Port 13, Pin 6

9 Drive Error (INP P13, pin13) 10 A Signal Encoder Channel 3



15 Z Signal Encoder Channel 4 16 A Signal Encoder Channel 5



21 Z Signal Encoder Channel 6 22 Step Signal Channel 0


25 Direction Signal Channel 1 26 +5V

J10 Pendant Pin Assignments: Digital Inputs on J10 are all 3.3v TTL.

Pin # Function Pin# Function

1 +5V, up to 200mA 2 Single-ended Encoder A (3.3v)

3 Single-ended Encoder B (3.3v) 4 <Reserved>

5 <Reserved> 6 Digital Input Port 14, Pin 4


9 Digital Input Port 14, Pin 6 10 Single-ended Encoder Z

11 Ground 12 <Reserved>


15 Digital Input Port 14, Pin 1

J11 Pin Assignments:

Pin# Function

GND Ground

+5V 5V power source for encoder on J 11.

Z- Differential Encoder (enc 1) Z-

Z+ Differential Encoder (enc 1) Z+

B- Differential Encoder (enc 1) B-

B+ Differential Encoder (enc 1) B+

A- Differential Encoder (enc 1) A-

A+ Differential Encoder (enc 1) A+



5. High Level Connection Diagram The figure below shows a typical Milling/Lathe machine connection using HiCON Integra.

Stepper Motor

Stepper Motor

Stepper Motor

HiC

ON

Inte

gra 7

76

6

J4

J3

J2

J1

6J1

5J1

4J1

3 J1

StepperDriver

StepperDriver

StepperDriver

Step and Direction

Step and Direction

Step andDirection

J7

PendantPower Input

24V and 5V

Limit/Home Switches

(Digital Inputs)

E Stop

MotorPower

Drive Enable(Digital Output)

26-pin Ribbon Cable3.3V Single-Ended Encoder Feedback

+5V Differential Encoder Feedback (Optional)

Spindle MotorSpindleDriver

0-10V(DAC)

Diffe

ren

tial to

Sin

gle-E

nd

ed

C

on

verte

r Bo

ard

J10 DB15 MJ12

J11

J1

1

J8

IMPORTANT: If using Digital Outputs, it is highly

recommended to feed +24V into J16. Failure to do so

may cause the board to overheat. Ideally, an external

jumper from +24V in J1 to J16 can be installed.

Power for Digital Outputs (+24V)

J5

Ethernet

Connection

To PC

+5V Differential Encoder Feedback



6. Wiring Examples

6.1 Example I/O Connections

+24V

Signal (Sourcing/PNP)

+24V

GND

Signal (Sinking/NPN)

+24V

GND

24V Power Supply

GND

+24V

Switch

24V Load Max 1 Amp

24V/5V Power Supply

+24V

GND

24VLoad

24VLoad

0 – 10V

GNDSpindle VFD

5V

Proximity Sensor

NOTE: It is required to make solid earth ground connections during installation (as shown in the above diagram). Failure to do so may cause electrical noise to disrupt the microcontroller operation and other low-voltage circuits.



6.2 NPN Digital I/O Connection using Pull-Up Resistor

Digital Output(NPN/Sinking/

Open-Collector)

4.7K Ohm0.5W

+24V

GND

INP0



6.3 Example Connections for 4-Axis Router with Yaskawa Sigma7 drives



6.4 Integra and 7737 setup

HiC

ON

Integra 7

76

6

J4

J3

J2

J1

6J1

5J1

4J1

3

J1

J7

J10 DB15 MJ12

J11

J1

1

J8

J5

GND

+24V

7737 Differential Step/Dir and

Encoder Board J4

Drive InterfaceBoard (EPx-DIB)

ENC

DR

VJ4


ENC

DR

V

AC Servo Drive

AC Servo Drive

External power source from

HiCON Integra J1

J3

SG1

J2J1

Setup Diagram for 7737 Board and HiCON Integra (J8)

EStopGPO-A

General Purpose Output (NPN, Sinking 24V 2A)Port13 Out6 >> GPO-A

Drive ErrorDrive Enable

26-pin Flat cable Connected to J8

Drive Enable and Error (24V, NPN) Signals for

additional motors

SG2

SG3

ENC3

ENC4

ENC5

ENC6

SG0J4


ENC

DR

V

AC Servo Drive

J4


ENC

DR

V

AC Servo Drive

NOTE: The Drive Error signal has no built-in functionality and will not do anything in Mach by default. This is because handling the Drive Error signal varies across several models (e.g. warning or disarm). A custom script may be used to perform any necessary actions when this signal is activated.



6.5 7737 Board to Drive Wiring

NOTE: The Drive Error signal has no built-in functionality and will not do anything in Mach by default. This is because handling the Drive Error signal varies across several models (e.g. warning or disarm). A custom script may be used to perform any necessary actions when this signal is activated.



7. Add-ons and Optional Features Most CNC applications will only require the Integra base unit, pn7766. However, advanced and production applications can benefit from these add-ons:

HiCON-MACRO[*]

This software feature allows the user to write custom programs (in vb/BASIC language)which can be downloaded to the controller for fast execution. Advantages of the HiCON-Macro feature include:

Real-time program execution on the firmware

Ultra-fast I/O control and response

C or BASIC language may be used

Extends Mach3/Mach4 Functionality

HiCON-EXTIO[*]

This software feature extends the number of available I/O by enabling ports J7 and J8. Useful if the built-in 16 inputs and 8 outputs are not sufficient. If you purchase the 7535 or 7737 boards, then this feature is provided FREE of charge.

HiCON-ADC[*]

This software feature allows the use of the 2 analog inputs located on J6.

INTG-CLOOP[*]

Enables the Integra Closed Loop Options. This software feature allows the use of Step/Dir channels [0 – 3] and Encoder channels [3 – 6] on J8, as well as Step/Dir channels [4 – 5] and Encoder channels [7 – 8] on J7. Advantages of this feature include:

Closed loop operation accounts for any missing steps during transmission, and will automatically apply the necessary correction at the start of the next move. This prevents following errors from accumulating.

The machine will only need to be homed (referenced) once on system power up. Axis position is preserved during ESTOP due to out of band axes even if Mach is closed or stopped.

Allows Mach to display the physical machine coordinates based from encoder feedback on the Mach display DROs. Open loop operation only displays the position based from the outputted step signals.

Closed Loop feedback is a requisite for switching to and from Manual mode operation.

Enables 6 Additional Encoder Channels on the Integra. The pins are single ended type and available on J7 and J8. The 7737 breakout board is used to convert them to 5Volt Differential and RJ45 plugs for plug-and-play setups.

NOTE: [*] - These items may be purchased any time before or after shipping as they are software features and are acquired via activation codes.



Feedback from rotary, linear (or glass scale) encoders may be used. Feedback gain may be configured to match step resolution.

Torch Height Control[*]

Allows the use of Automatic Torch Height Control where the Z axis height is regulated at a distance over the cutting surface based off feedback voltage from a dedicated torch height controller. This feature is almost always a requisite for Plasma cutting machines.

Synced Outputs[*]

Allows the use of the Synced Outputs feature of Mach4. Synced outputs allows an output to be triggered ON or OFF at a precise real-time position which can be indicated in a GCode file. Unlike MCodes, the Synced outputs feature will not halt motion to trigger an output, but rather, only trigger it at a precise position value while keeping motion continuous. Extremely useful for applications that make use of laser cutting.

Rigid Tap[*]

Allows the use of Rigid Tapping in Mach4. This feature makes use of the actual spindleRPM to regulate the feedrate of a tapping head (usually the Z axis).

7737 Breakout Board

The pn7737 Differential Step/Direction and Encoder Board allows access to the Step/Direction and Encoder channels on J7 and J8 plugs, and allows a simple plug-and-play setup using standard RJ45/Ethernet cables. When used with Drive Interface Board (EPx-DIB) for Maxsine AC Servo Drives, this board provides a true plug-and-play connection.

7535 Breakout Board (P or N version)

The I/O Termination board (7535P or 7535N) allows access to additional 24V optically isolated digital inputs and outputs. Each board allows access to 16 input terminals and 8 output terminals. All I/O terminals are clearly marked for quick and easy installation. A maximum of two 7535 (P or N) boards can be plugged into HiCON Integra, providing an additional 32 Inputs and 16 outputs.

http://www.vitalsystem.com/portal/breakout_board/breakout.php#7737

http://www.vitalsystem.com/portal/breakout_board/breakout.php#7535



8. Further Reading

1. HiCON Mach3 Software Integration 2. HiCON Mach4 Software Integration 3. HiCON Basic User Guide 4. HiCON CMacro User Guide 5. VSI Device Manager manual

http://www.vitalsystem.com/web/hicon/HiCON_Mach3_Software_Integration.pdf

http://www.vitalsystem.com/portal/motion/hicon/HiCON_Mach4_Software_Integration.pdf

http://www.vitalsystem.com/web/hicon/HiCONBasic.pdf

http://www.vitalsystem.com/portal/motion/VSI_CMacro_Documentation.pdf


Documents

HiCON Integra pn7766 - Vital System · HiCON Integra – pn7766 Ethernet Motion Controller Data Acquisition System Logic Controller User Guide Document Revision 1.5 (Updated Jan 19,